The development of embedded systems with real-time constraints has been rapidly advancing in the last 20 years. Most existing methods are still hard to scale up for large systems, or they require expensive testing efforts. Embedded CD++ is a software toolkit that uses model-driven method to develop this kind of applications based on DEVS, a formal technique originally created for modeling and simulation of discrete event systems. Embedded CD++ is a framework to incrementally develop embedded applications, and to seamlessly integrate simulation models with hardware components. We have deployed this tool on a Virtex2 pro FPGA board and made use of different components of an FPGA device to upgrade the hardware control and simulation capabilities of this toolkit. The process of deployment and also execution of a case study control model will be explained in detail.

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Keywords DEVS, Embedded CD++, Embedded systems, FPGA, Hardware-in-loop, Real-time, Robot
Conference 2009 Spring Simulation Multiconference, SpringSim 2009
Moallemi, M. (Mohammad), & Wainer, G.A. (2009). A System-On-Chip FPGA implementation of embedded CD++. In Spring Simulation Multiconference 2009 - Co-located with the 2009 SISO Spring Simulation Interoperability Workshop.